feat: back to the future, update iron image

* fix: use branch of mypy generator for rolling

fix: remove --break-system-packages as it causes issues in release processes that should run on both iron and jazzy

chore: remove EXTERNALLY-MANAGED after pip is installed

fix: add ping

fix: bump rr version

fix: install poetry-plugin-export

.github/workflows/publish.yml

@@ -31,7 +31,9 @@ jobs:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.API_TOKEN_GITHUB }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          ref: iron
       - name: Setup Node.js
         uses: actions/setup-node@v2
       - name: Install npm dependencies

Dockerfile

@@ -9,7 +9,7 @@ SHELL ["/bin/bash", "-c"]
 
 ENV ROS_DISTRO="${ROS_DISTRO}"
 ENV ROS_PYTHON_VERSION=3
-ENV RMW_IMPLEMENTATION rmw_fastrtps_cpp
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
@@ -23,7 +23,7 @@ RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selectio
   echo 'wireshark-common wireshark-common/install-setuid boolean true' | debconf-set-selections
 
 # install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
+RUN apt-get update && apt-get dist-upgrade -q -y && apt-get install -q -y --no-install-recommends \
     less \
     dirmngr \
     gnupg2 \
@@ -32,18 +32,18 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 # setup ros2 apt sources
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/vulcanexus-archive-keyring.gpg] http://repo.vulcanexus.org/debian $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/vulcanexus.list
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
+# RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/vulcanexus-archive-keyring.gpg] http://repo.vulcanexus.org/debian $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/vulcanexus.list
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/gazebo-stable-keyring.gpg]  http://packages.osrfoundation.org/gazebo/ubuntu-stable $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/gazebo-stable.list
 
 # setup keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
-  && curl -sSL https://raw.githubusercontent.com/eProsima/vulcanexus/main/vulcanexus.key -o /usr/share/keyrings/vulcanexus-archive-keyring.gpg \
   && curl -sSL https://packages.osrfoundation.org/gazebo.key | gpg --dearmor -o /usr/share/keyrings/gazebo-stable-keyring.gpg
+# && curl -sSL https://raw.githubusercontent.com/eProsima/vulcanexus/main/vulcanexus.key -o /usr/share/keyrings/vulcanexus-archive-keyring.gpg \
 
 # setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
 # install bootstrap tools and ros2 packages
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -59,6 +59,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     fakeroot \
     git \
     jq \
+    iputils-ping \
     python3-catkin-pkg \
     python3-colcon-common-extensions \
     python3-colcon-mixin \
@@ -75,11 +76,11 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     ros-${ROS_DISTRO}-ros-core \
     ros-${ROS_DISTRO}-geographic-msgs \
     ros-${ROS_DISTRO}-example-interfaces \
-    vulcanexus-${ROS_DISTRO}-core \
     wget
 
-RUN curl -L https://github.com/mozilla/sccache/releases/download/v0.7.7/sccache-v0.7.7-$(uname -m)-unknown-linux-musl.tar.gz | tar zx --wildcards "*/sccache" --strip-components 1 --directory=/usr/bin
-RUN curl -L https://github.com/rr-debugger/rr/releases/download/5.7.0/rr-5.7.0-Linux-$(uname -m).deb --output rr.deb && dpkg --install rr.deb && rm rr.deb
+    # vulcanexus-${ROS_DISTRO}-core \
+
+RUN curl -L https://github.com/rr-debugger/rr/releases/download/5.8.0/rr-5.8.0-Linux-$(uname -m).deb --output rr.deb && dpkg --install rr.deb && rm rr.deb
 
 # set gcc version to latest available on ubuntu rel
 RUN update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 12 && \
@@ -88,6 +89,9 @@ RUN update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 12 && \
     update-alternatives --install /usr/bin/gcc-nm gcc-nm /usr/bin/gcc-nm-12 12 && \
     update-alternatives --install /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-12 12
 
+# Remove EXTERNALLY-MANAGED so we don't need to add --break-system-packages to pip
+RUN sudo rm -f /usr/lib/python3.*/EXTERNALLY-MANAGED
+
 # bootstrap rosdep
 RUN rosdep init && \
   rosdep update --rosdistro $ROS_DISTRO
@@ -135,7 +139,7 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --base-paths external
 RUN --mount=type=bind,source=scripts,target=scripts \
   source /opt/ros/${ROS_DISTRO}-ext/setup.sh && python3 scripts/rosidl_generate_inplace.py
 
-ENV ROS_OVERLAY /opt/ros/${ROS_DISTRO}-ext
+ENV ROS_OVERLAY=/opt/ros/${ROS_DISTRO}-ext
 WORKDIR /home/ros
 ENV PATH="/home/ros/.local/bin:${PATH}"
 
@@ -145,4 +149,4 @@ RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloa
 USER ros
 
 # Install poetry as ros user
-RUN curl -sSL https://install.python-poetry.org | python3 -
+RUN pip install poetry poetry-plugin-export

external.repos

@@ -1,4 +1,4 @@
 - git:
     local-name: rosidl_generator_mypy
     uri: https://github.com/Greenroom-Robotics/rosidl_generator_mypy
-    version: master
+    version: feature/fix-deprecation

package.json

@@ -1,8 +1,8 @@
 {
   "name": "ros_builder",
   "private": true,
-  "version": "1.5.0",
-  "description": "Greenroom's base ROS2 image",
+  "version": "1.5.6",
+  "description": "Greenroom's base ROS 2 Iron image",
   "main": "index.js",
   "scripts": {},
   "repository": "[email protected]:Greenroom-Robotics/ros_builder.git",

release.config.amd64.js

@@ -1,6 +1,7 @@
 
 module.exports = {
-  branches: ['main'],
+  branches: ['iron'],
+  tagFormat: 'iron-${version}',
   plugins:
     [
       [

release.config.arm64.js

@@ -1,6 +1,7 @@
 
 module.exports = {
-  branches: ['main', 'add-integration-service-to-gama'],
+  branches: ['iron'],
+  tagFormat: 'iron-${version}',
   plugins:
     [
       [

scripts/docker-build.py

@@ -5,10 +5,6 @@
 from typing import List, Dict
 
 
-UBUNTU_VERSION = "22.04"
-UBUNTU_CODENAME = "jammy"
-CUDA_VERSION = "11.7.1-devel-ubuntu22.04"
-
 ENV = Dict[str, str]
 
 
@@ -46,6 +42,15 @@ def build_image(base_image: str, ros_distro: str, arch: str, tags: List[str], pu
     args = parser.parse_args()
 
 
+    if args.ros_distro == "jazzy":
+        UBUNTU_VERSION = "24.04"
+        UBUNTU_CODENAME = "noble"
+        CUDA_VERSION = f"12.5.1-devel-ubuntu{UBUNTU_VERSION}"
+    elif args.ros_distro == "iron":
+        UBUNTU_VERSION = "22.04"
+        UBUNTU_CODENAME = "jammy"
+        CUDA_VERSION = f"11.7.1-devel-ubuntu{UBUNTU_VERSION}"
+
     # Build images
     build_image(
         base_image=f"nvidia/cuda:{CUDA_VERSION}",